CN111572602B - Scheduling method of intelligent railcar merging point and intelligent track control system - Google Patents
Scheduling method of intelligent railcar merging point and intelligent track control system Download PDFInfo
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- CN111572602B CN111572602B CN202010469813.0A CN202010469813A CN111572602B CN 111572602 B CN111572602 B CN 111572602B CN 202010469813 A CN202010469813 A CN 202010469813A CN 111572602 B CN111572602 B CN 111572602B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or vehicle train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or vehicle train, e.g. pedals
- B61L1/16—Devices for counting axles; Devices for counting vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
- B61L15/0018—Communication with or on the vehicle or vehicle train
- B61L15/0027—Radio-based, e.g. using GSM-R
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L5/00—Local operating mechanisms for points or track-mounted scotch-blocks; Visible or audible signals; Local operating mechanisms for visible or audible signals
- B61L5/12—Visible signals
- B61L5/18—Light signals; Mechanisms associated therewith, e.g. blinders
Abstract
The invention provides a scheduling method of an intelligent rail car merging point and an intelligent rail control system, wherein the scheduling steps are as follows: step 1, a first merging point controller receives application information sent by a railcar on a controlled track; the rail car is arranged on a rail controlled by the first merging point controller; the application information comprises request information of a railcar requesting to pass through a first merging point, a track number of the railcar and request time for the railcar to send the application information; step 2, the first merging point controller makes a track scheduling strategy according to the received application information of the rail car; and 3, the first merging point controller controls the rail car to pass through the first merging point according to the scheduling strategy. The intelligent method and the system for dispatching the merging points of the railcars can ensure that the railcars can safely pass the merging points under any condition.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to an intelligent rail car merging point scheduling method and an intelligent rail control system.
Background
With the rapid development of the social urbanization process, the use of the traditional public transportation can cause the serious congestion of urban roads, so that various public transportation modes such as subways, new energy BRT, intelligent tracks and the like are applied to the problem that the urban traffic congestion problem is increasingly prominent. The intelligent rail train does not depend on steel rails to run, the construction period is short, and the rail train has the characteristics of zero emission and no pollution, so that the intelligent rail train is fully combined with the conventional public transportation system, a three-dimensional traffic network in the ground, the ground and the air is built, and a brand-new solution is provided for solving the problem of modern urban transportation.
The track of the intelligent track system is provided with a bifurcation point and a merging point, and a road network of the track is formed by a plurality of road sections with the bifurcation point and the merging point. A collision of travel occurs if multiple vehicles pass through the merge point at the same time. In order to solve the problem that the vehicles on the rails have collision and conflict, the intelligent system must have the scheduling function of the merging point, so that the vehicles on the two rails for merging pass in sequence, and the phenomenon that the vehicles have collision and conflict can be effectively avoided.
The existing method of fixing traffic light time is generally adopted to realize the scheduling of merging points, namely, the logic of traffic lights is simulated, the traffic lights are arranged on different turnouts needing to be merged, and if the lights are in a red state, vehicles on the track cannot pass through and merge; if the light is in a green state, the vehicles on the track can pass into the merging point. Through making reasonable setting to the state display time (transit time) of traffic lights on different tracks, can guarantee that the condition that many vehicles pass through simultaneously and bump conflict can not appear in the track merge point. However, the passing time of the vehicles on each track passing through the merging point is generally fixed, and the scheme of fixing the passing time can cause the passing state of the road to change suddenly, so that if there are passing vehicles, the collision risk can occur. That is, in the automatic mode control, since each lamp position is displayed in a fixed countdown manner, the stopped vehicle a is likely to perform a start-up procedure according to the displayed fixed countdown time, and a "green light robbing" situation occurs; therefore, when the color state of the light changes, a green light is arranged on one turnout, the vehicle A starts to run by self, and a red light is arranged on the other turnout, so that the vehicle B which runs is suddenly reduced in distance from the target, the speed is controlled according to the speed-distance curve, sudden braking can be generated, or the vehicle B which is not braked can run the red light, and the vehicle A which is running into the turnout collides, so that the road cannot be normal.
For example, when there are two tracks passing through the merge point 4, as shown in fig. 1, a vehicle a traveling on the first track 1 and a vehicle B traveling on the second track 2 via the branch point 5 pass through the first merge point 4 at about the same time, since the traffic light provided at the first merge point 4 is in this state: the lamp of the first track 1 is displayed in a green lamp state, and the lamp of the second track 2 is displayed in a red lamp state, so that the running vehicle A can pass through the merging point 4, the running vehicle B cannot pass at the moment, and needs to be decelerated or stopped to pass, and as the display state time of the traffic lights is 30 seconds, the traffic states on two turnouts change after 30 seconds, at the moment, the lamp of the first track 1 is displayed in the red lamp state, the lamp of the second track 2 is displayed in the green lamp state, the running vehicle A on the first track 1 does not completely pass through the first merging point 4, and the vehicle A can not stop immediately after receiving a red light signal and can collide with the vehicle B which is started to pass through the first merging point 4; or the vehicle a on the first track 1 is far from the first merging point 4, the speed control curve is carried out by using a far target, the speed is high, and when a red light signal is suddenly met, the tracking target is changed to a position 10m behind the merging point 4 (equivalent to an intersection stop line), so that the distance of the tracking target is suddenly reduced, and a sudden braking accident is generated.
Therefore, although the control method using the simulated traffic light logic can reduce the risk of high-probability collision at the merging point to a certain extent, the control method still causes sudden change of the road traffic state and the risk of collision, and therefore a new scheduling scheme is urgently needed to solve the technical defects.
Disclosure of Invention
The invention aims to provide a scheduling method of an intelligent rail car merging point and an intelligent rail control system, which can ensure and improve the scheduling control safety of the intelligent rail car merging point.
In order to achieve the above purpose, the invention provides the following technical scheme:
a scheduling method of an intelligent railcar merging point comprises the following steps:
step 1, a first merging point controller receives application information sent by a rail car; the rail car is arranged on a rail controlled by the first merging point controller; the application information comprises request information of a railcar requesting to pass through a first merging point, a track number of the railcar and request time for the railcar to send the application information;
and 3, controlling the rail car to pass through the first merging point according to the scheduling strategy.
Further, in the step 2, it is determined that only one track car on one track passes through the first merge point according to the application information, the track of the track car is used as a controlled track by the scheduling policy, and the first merge point controller controls the track car to pass through the first merge point.
Further, in the step 2, it is determined that the track cars on both the two tracks pass through the first merging point according to the application information, and the scheduling policy is to respectively use the two tracks as a first controlled track and a second controlled track according to the request time.
Further, the first merge point controller takes the received track where the railcar with the earliest request time among all the railcars on the two tracks is located as the first controlled track, and takes the other track as the second controlled track.
Further, when it is judged that the railcars on both the two tracks pass through the first merging point, the judgment basis of the scheduling strategy further comprises waiting time and a first time threshold, when the waiting time of the second controlled track is greater than the first time threshold, the first merging point controller stops scheduling the railcars of the first controlled track, and after the controlled railcars of the first controlled track completely pass through the first merging point, the first merging point controller schedules the railcars on the second controlled track; the waiting time is the accumulated time for waiting for scheduling, which is not received by the scheduling command of the first merging point controller after the application information is sent by the rail vehicle on one track.
Further, the judgment basis of the scheduling strategy further includes a first time threshold, when the waiting time of the first controlled track is greater than a second time threshold, the first merging point controller stops scheduling the railcars of the second controlled track, and after the controlled railcars of the second controlled track completely pass through the first merging point, the first merging point controller schedules the railcars on the first controlled track again.
Further, in the step 4, it is determined whether the controlled railcar completely passes through the first merge point according to the position information of the controlled railcar.
Further, when the foremost railcar on one track does not send a request message to the first merge point controller, the first merge point controller does not treat the one track as a controlled track.
The invention also provides an intelligent track control system, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the intelligent railcar merge point scheduling method when executing the computer program.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses an intelligent railcar merge point scheduling method, which comprises the steps of processing application information of a railcar, realizing intelligent control of traffic lights according to control logic, and reasonably and effectively managing and controlling the passing sequence and state of the railcar, so that under the condition that the railcar normally runs, the state of the railcar in the process of passing through the merge point is unchanged, no collision risk exists, and meanwhile, the waiting time is properly increased and reduced; even if the traffic state is abnormally changed, the traffic safety can be ensured by the scheduling method.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
FIG. 1 is a schematic diagram of a track structure of a conventional intelligent track system;
FIG. 2 is a schematic diagram of a merge point scheduling control logic of the present invention;
FIG. 3 is a flow chart of the scheduling of merge points of the intelligent track system of the present invention;
FIG. 4 is a schematic diagram of a system and a rail car according to a first embodiment of the scheduling method of the present invention;
fig. 5 is a schematic diagram of a system and a railcar thereof according to a second embodiment of the scheduling method of the present invention.
Description of reference numerals: 1. a first track; 2. a second track; 3. a third track; 4. a first merge point; 5. a bifurcation point.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
The intelligent track system comprises a plurality of tracks and road side equipment, wherein the road side equipment comprises a track controller arranged on the track side of the intelligent track system and a control device arranged at a track merging point, the control device comprises a merging point controller, wireless equipment and a counter, the merging point controller is communicated with each vehicle-mounted equipment of a vehicle running on the track to the merging point, the vehicle-mounted equipment is used for acquiring track car information in real time, the track car information acquired by the vehicle-mounted equipment is communicated with the track controller, the track controller can acquire the track car information in real time and send application information expected to pass through the merging point to the merging point controller, and as other implementation modes, the vehicle-mounted equipment can directly send the track car information to the merging point controller.
The method comprises the steps that the vehicle-mounted equipment acquires the information of the railcars, which is equivalent to the realization of vehicle-ground communication, the application information comprises request information and railcar information sent by the vehicles which expect to pass through the merging point, a counter counts the number of the railcars which expect to pass through the merging point, after receiving the application information, a merging point controller acquires the number of the railcars which expect to pass through the merging point, and then the merging point controller controls all the railcars which expect to pass through the merging point to safely pass according to a control sequence. The merging point controller is used for controlling the rail cars on the two rails which are dispatched to the merging point. Therefore, the track controller in the invention is mainly responsible for transmitting the communication signals, and the merging point controller not only transmits the communication signals, but also realizes the passing control of the rail cars.
The road side equipment also comprises a traffic light arranged at the merging point, and when a vehicle on a certain track is allowed to pass, the traffic light facing the track direction is a green light, namely the traffic light indicates that the vehicle is allowed to pass; when a vehicle on a certain track is not allowed to pass, the traffic light facing the direction of the track is red, namely, the traffic light indicates that the vehicle cannot pass.
The mobile unit includes wireless transceiver and position detection sensor, wireless transceiver is transmitted to position information that position sensor detected, position information includes the track number, geographical position on the current track, when certain railcar is expected to pass through the merge point, wireless transceiver directly sends application information to merge point controller or through the track controller to merge point controller, application information includes through request information, the track number at railcar place and the time of sending application information, application information still includes: the equipment number of the railcar has uniqueness, and the railcar can be accurately identified through the equipment number.
The control device can realize the dispatching control of the rail cars expected to pass through the corresponding merging points. The counter counts the number of the railcars which are expected to pass through the merging point on at least two tracks, the controller of the merging point can identify the equipment number of the corresponding railcar after receiving a new application message, the counter is increased by 1, and the counter is decreased by one after receiving the message that the railcar completely passes through the merging point. After the merge point controller receives the application information of the rail cars, the control is directly carried out according to the dispatching control logic principle, when a certain rail car is to be controlled to pass, the traffic light on the rail where the rail car is located can be controlled to be green, the traffic light on the other rail is red, the rail with the red light can not pass, and the danger that the cars on the two rails collide through the merge point at the same time can be avoided.
The merging point controller has two states in the process of controlling the passing of the merging point, namely a waiting dispatching state and a waiting passing state. Therefore, the scheduling control principle of the merging point controller for merging point passing is shown in fig. 2, in the waiting scheduling state, the counter counts the number of railcars expected to pass through two tracks, and sends the quantity information of the railcars to the merging point controller, if only one track has a vehicle, the merging point controller is directly switched to the waiting passing state, and the vehicle is controlled to directly pass through; if vehicles on the two tracks request to pass through the merging point, the merging point controller selects the track as a dispatching track, namely a controlled track, according to the received request time and the waiting time, and enables the rail car on the track to be a controlled rail car (namely a dispatching car), and then the merging point controller is switched to a waiting passing state to control the dispatching vehicles to pass through the merging point.
The intelligent track system also comprises an intelligent track control system, the intelligent track control system comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, the processor is the merging point controller described above, and the merging point controller realizes the scheduling method of the merging points of the intelligent rail cars when executing the computer program stored in the memory.
The intelligent railcar merging point scheduling method provided by the invention is mainly characterized in that a railcar expecting to pass through a merging point on a track sends a passing application to a merging point controller arranged at the merging point, then the merging point controller realizes the statistics of the number of railcars expecting to pass through the merging point through a counter, and the merging point controller controls the railcars expecting to pass through according to the control sequence of a scheduling strategy to realize the sequential and safe passing of the railcars, as shown in fig. 3 and 4.
In this embodiment, all vehicles traveling on the track are rail vehicles, a vehicle controlled by the merge point controller after the vehicle on the track sends the application information is referred to as a controlled rail vehicle, and may also be referred to as a dispatching vehicle in the dispatching control process, and the controlled rail may also be referred to as a dispatching rail in the dispatching control process. In order to better embody the technical concept of the scheduling method of the intelligent railcar merge point of the present invention, the following detailed description is made with different specific embodiments.
The first embodiment of the scheduling method:
this implementation mainly describes a control process of controlling only the railcar on a single track to pass through a merge point on an intelligent system as shown in fig. 4, and specifically includes the following steps:
firstly, vehicle equipment on a track sends application information to a first merging point controller;
the vehicles a and B on the first track 1 are running and both need to pass the first merge point 11; for the vehicles of the second track 2, one is a vehicle without traveling, and the other is a vehicle traveling on the second track 2 but in front of the second track does not want to pass the first merge point 4, since the vehicle in front of the second track 2 does not send the application information it is considered that no vehicle on the second track 2 expects to pass the first merge point, since the foremost vehicle on the second track that does not want to pass through the first merge point will pass through once the green light is controlled to the second track 2, the present embodiment inherits the principle of not requesting to pass through and not controlling it, and will not control the second track 2 as the dispatching track, that is, it is actually considered that only the vehicles a and B on the first track 1 actively send application information to the first merge point controller at the first merge point 4 through the transceivers on the respective vehicles or the track controllers on the road side. The application information includes passing request information, position information, and device number of the vehicle a.
The second merging point controller acquires the information and the quantity of the vehicles which are expected to pass through the merging point;
in the embodiment, the first merge point controller receives the application information sent by the vehicle a in the first second, when the counter N is 1, and then the first merge point controller receives the application information sent by the vehicle B in the third second, when the counter N is 2. Within five seconds, the first merging point controller does not receive new application information any more, and the first merging point controller is in a waiting dispatching state all the time in the process of counting the information and the quantity of the railcars by the first merging point controller.
Thirdly, the first merge point controller controls safe passing merge points of the rail cars;
when the first merge point controller obtains that the vehicles expected to pass through the first merge point 4 are all on the first track 1, the first track 1 is selected as the dispatching track, at the moment, the state of the first merge point controller is switched from the waiting dispatching state to the waiting passing state, and meanwhile, the traffic light on the first track 1 is controlled to be green, and the traffic light on the second track 2 is controlled to be red.
The first merging point controller establishes communication with the wireless transceivers of the vehicle A and the vehicle B, and sends scheduling commands to the vehicle A and the vehicle B, and after receiving green traffic signals, the vehicle A and the vehicle B normally run through the first merging point; when the vehicle a travels on the third track 3, the wireless transceiver of the vehicle a establishes a communication connection with the second merge point controller, and after the second merge point controller obtains the position information of the vehicle a traveling on the third track 3, the second merge point controller transmits the information that the vehicle a has controlled the jurisdiction range of the vehicle a, that is, the vehicle a transmits the information communication of the first merge point 4 to the first merge point controller, and the first merge point controller decrements the counter by one, that is, N is 1, according to the information that the vehicle a passes through the first merge point 4, and then the vehicle B continues to pass through the first merge point 4. Only if it is confirmed that the vehicles a and B on the track completely pass through, the next dispatch can be performed, that is, the first merge point controller is switched from the wait-for-pass state to the wait-for-dispatch state again, so that the safe passing of the vehicles at the first merge point 4 can be ensured. And when the first merging point controller is switched to the waiting scheduling state again, the first track control starts to execute the steps again.
The judgment method for the vehicle a passing through the first merging point 4:
the position sensor of the vehicle A detects the position of the vehicle A on the first track 1 all the time, when the vehicle A runs through the first merging point 4, the vehicle A enters the third track 3 and communicates with the second merging point controller at the second merging point in front of the third track 3, the second merging point controller transmits the information that the vehicle A completely runs on the third track 3 to the CAN bus, and the first merging point controller confirms that the vehicle A completely passes through the first merging point 11 after acquiring the information that the vehicle A completely runs on the third track 3 through the bus.
Similarly, the method of determining that the vehicle a passes through the first merge point 4 can confirm not only the passing state of the other vehicle on the first track but also the passing state of the vehicle on the other second track or third track.
By the method, the first controller can accurately determine that the scheduled vehicle is completely the first merging point. As another embodiment, the position information may be transmitted to the first track controller by the track controller; the wireless transceiver on the dispatching car can also directly send the position information detected by the position sensor to the first merging point controller, so that the passing state of the dispatching car can be judged.
The second embodiment of the scheduling method:
the difference between the present embodiment and the first embodiment is that the vehicles on the two tracks both have the first merging point through which the vehicles are expected to pass, and as shown in fig. 5, the schematic structural diagram of the intelligent track system is shown, and includes three tracks and a first merging point 4, where the three tracks are respectively a first track 1, a second track 2 and a third track 3, a vehicle a and a vehicle B are traveling on the first track 1, a vehicle C and a vehicle D are traveling on the second track 2, and after a period of time, a newly-entering vehicle E is traveling on the second track 2, and a vehicle F is traveling on the third track.
The specific scheduling steps are as follows:
firstly, vehicle equipment on a track sends application information to a merging point controller;
the vehicle a and the vehicle B on the first track 1 need to pass through the first merge point 4, and the vehicle C and the vehicle D on the second track 2 need to pass through the first merge point 4, so the vehicle a, the vehicle B, the vehicle C and the vehicle D all can send application information to the first merge point controller, the first merge point controller is responsible for managing and controlling the vehicles on the first track 1 and the second track 2 to pass through the first merge point 4, and the sequence of the first merge point controller receiving the vehicle application information is as follows: application information of vehicle C, application information of vehicle a, application of vehicle D, and application information of vehicle B.
Secondly, the merging point controller acquires the information and the quantity of the railcars expected to pass through the merging point;
within a set time, after the first merge point controller receives application information sent by the vehicle C through the vehicle-mounted wireless transceiver, a counter N is 1, after the first merge point controller receives the application information sent by the vehicle A through the vehicle-mounted wireless transceiver again, the counter N is 2, after the first merge point controller receives the application information sent by the vehicle D through the vehicle-mounted wireless transceiver again, the counter N is 3, and after the first merge point controller receives the application information sent by the vehicle B through the vehicle-mounted wireless transceiver, the counter N is 4. And the first merge point controller determines that the number N of the railcars which are expected to pass through the merge point is 4 when the first merge point controller does not receive the application information sent by other vehicles within the preset time. In the process of counting the information and the quantity of the railcars by the first controller, the first merging point controller is in a waiting dispatching state all the time.
Thirdly, the first merge point controller controls safe passing merge points of the rail cars;
(1) the first merging point controller makes a passing decision of the control of the rail car according to the received application information;
the first merge point controller compares and judges that the vehicle which sends the application information first is the vehicle C and the vehicle C is on the second track 2 according to the received application information of the rail vehicles. Therefore, the first merge-point controller will first use the second track 2 as a dispatching track, and send dispatching commands to the vehicles C and D on the second track 2 to control the vehicles C and D to pass first. And then controls the vehicles a and B on the first track 1 to pass behind.
(2) The first merge point controller executes a scheduling policy;
in the process of executing the dispatching strategy, the first merging point controller is always in a traffic waiting state, and a new dispatching vehicle is prevented from being added, so that vehicles related to the dispatching strategy can safely pass through the first merging point.
Firstly, the second track 2 is controlled to be a dispatching track, the vehicle C and the vehicle D are controlled to be dispatching vehicles, meanwhile, the traffic light on the second track 2 is controlled to be green, and the traffic light on the first track 1 is controlled to be red, so that the situation that only one rail vehicle on the first merging point passes through can be guaranteed, and the passing safety of the rail vehicles on the first merging point 4 is guaranteed. The vehicle on the first track which is displayed as the red light does not receive the dispatching information, namely the vehicle can run at a reduced speed after receiving the red light signal and even stop at a stop line behind the first merging point to wait.
In the process, the first merging point controller controls the vehicles C and D on the second track 2 to successively pass through the first merging point 4, and the vehicles on the first track 1 are prohibited from passing through the first merging point 4. In the passing process of the vehicles C and D on the second track 2, the waiting time of the vehicles on the first track 1 is calculated, and if the waiting time is greater than the first time threshold, after the controlled railcar of the first controlled track completely passes through the first merging point, the first merging point controller switches the control tracks, that is, after the vehicles C and D on the second track pass through the first merging point, the first merging point controller controls the vehicles a and B on the first track 1 to pass. The waiting time refers to the accumulated time during which the vehicles on one track have not received the dispatching instruction of the merge point controller after sending the application information, that is, the merge point controller has not sent the dispatching instruction to the vehicles on the track after receiving the application information sent by the vehicle on one track.
In this embodiment, after the dispatch command is sent from the first merge point controller to enter the wait-to-pass state, when the vehicle C on the second track 2 completely passes through the first merge point 4 for 40 seconds, when the vehicle D completely passes through the first merge point 4 for 60 seconds, and when the waiting time of the first track 1 is 50 seconds, the set threshold is already exceeded, it is urgently necessary to let the vehicle a and the vehicle B on the first track 1 pass, but it is still necessary to ensure that the vehicle on the second track 2 that has received the dispatch command completely passes through, that is, the vehicle D is waited to be controlled to completely pass through the first merge point 4, so as to ensure the safety of passing through the first merge point 4.
In order to further improve the safety of the first merge point controller in the process of switching the control tracks, after the first merge point controller receives the information that the vehicles C and D on the second track 2 completely pass through the first merge point 4, the first merge point controller still needs to delay the set time and then switch the control traffic lights and send scheduling instructions. In the present embodiment, the first set time is 10 seconds. Namely, after the first merge point controller receives that the vehicle C and the vehicle D on the second track pass, the first merge point controller stops controlling the second track 2 to pass, changes the traffic light on the second track 2 into a red light, delays for 10 seconds, controls the traffic light on the 1 st track to be green, and sends a scheduling instruction for passing the first merge point to the vehicle on the first track 1.
In the invention, the time threshold of each track is different, if the time threshold of a certain track is high, the waiting time t1 is used for switching and controlling the green light, and if the time threshold of a certain track is low, the waiting time t2 is used for switching and controlling the green light, wherein t2> t 1. In the present embodiment, the time threshold of the second track 2 is high, the corresponding waiting time t1 is 10 seconds, the time threshold of the first track 1 is low, and the corresponding waiting time t2 is 30 seconds.
After the first merge point controller receives that the rail car on the second track 2 completely passes through the first merge point 4, the first merge point controller waits for 10 seconds, then the first merge point controller switches the control tracks, namely the first track 1 is used as a dispatching track, the vehicle a and the vehicle B on the first track 1 are used as dispatching cars, then the traffic light on the first track 1 is green, the traffic light on the second track 2 is red, and the detection of the control process of the vehicle a and the vehicle B on the second track 2 is the same as the detection of the control process of the vehicle C and the vehicle D on the first track 1.
And after the vehicles A and B on the first track 1 completely pass through the first merging point 4, the second merging point controller sends passing information of the vehicles A and B to the first merging point controller, and the first merging point controller confirms that in the scheduling process, 4 vehicles which are expected to pass through the first merging point completely pass through the first merging point 4 in a waiting passing state, so that the scheduling of the first merging point 4 is completed, then the first merging point controller is switched to the waiting scheduling state, and application information which is expected to pass through the first merging point in the scheduling control process of the next time is counted.
From the above description, it can be seen that the focus of the present invention is on the safety pass control of the merge point, where the safety of the fault point is analyzed in detail as follows:
(1) when the can bus breaks down, the first merging point controller and the second merging point controller cannot interact information that the rail cars completely pass through the merging points, and the first merging point controller cannot receive information that the rail cars pass through the first merging points, so that the current state of the traffic lights is kept unchanged, the vehicles on one rail can always pass through, and the vehicles on the other rail cannot pass through, so that the guidance of the first merging point is safe, and the danger of collision caused by the fact that the vehicles do not pass through the merging points but are rear-ended by the vehicles on the other rail due to the fact that the vehicles are broken can be effectively avoided.
(2) When the vehicle-to-ground communication fails, the merging point controller cannot receive the application information sent by the vehicle, a pass (pass instruction) cannot be sent to the vehicle, and the vehicle stops before the intersection and is jammed, so that the guidance safety is realized.
(3) When the local vehicle-to-vehicle communication fails, the vehicle cannot receive the passing instruction of the merging point controller, and the vehicle stops in front of the intersection and is stuck, so that the guidance is safe.
(4) When some vehicles can receive the control instruction of the road side equipment, and some vehicles cannot receive the control instruction of the road side equipment due to the problems of faults and the like, the vehicles which cannot receive the control instruction cannot walk, and if some vehicles which receive the control instruction cannot walk, the vehicles can be blocked. Two tracks are mutually exclusive all the time, namely one track is passed, and the other track is stopped, so that the guidance safety of the scheduling control of the merging point can be ensured.
(5) If the dispatching command or the application information is received in a delayed mode, waiting time of the rail cars is increased, but in the dispatching control logic, the traffic command is stopped to be issued first before the traffic light state is changed, and then the states of all the dispatched rail cars are changed after the traffic light state is changed, so that all operations are independent of timeliness, and guiding safety is achieved.
(6) When the power of the rail car is failed and the rail car stops in any area, the merging point controller needs to change the state after the car completely passes through the merging point, and the state of the car can not be changed when the car does not pass through the merging point controller, so that the guiding safety can be ensured.
(7) When the merging point controller crashes, vehicles which have received the passing instruction sequentially pass through the merging point, vehicles which are not dispatched wait in situ, and the control state of the merging point controller before the crash fault is maintained, so that the safety risk is not generated, and the guidance safety is realized.
Therefore, when the vehicle-mounted equipment and trackside equipment on the trackside are damaged, powered off, delayed and partially received, accident risks cannot be caused, the situation that a vehicle tracking target is suddenly close does not occur, and emergency braking does not occur. The safety of vehicle passing at the merging point is ensured.
In the running process of the vehicle on the intelligent track, under the condition that the state mutation does not occur, the state is unchanged in the whole passing process, and the collision risk is avoided; when the passing state changes, the passing safety at the merging point can be ensured, and the collision danger can not occur. Therefore, compared with the prior art, the intelligent railcar merge point scheduling method can ensure the traffic safety of vehicles at the merge point no matter whether abnormal state mutation occurs in the traffic process in the scheduling process of executing the merge point.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The scheduling method of the intelligent railcar merging point is characterized by comprising the following steps of:
step 1, a first merging point controller receives application information sent by a rail car; the rail car is arranged on a rail controlled by the first merging point controller; the application information comprises request information of a railcar requesting to pass through a first merging point, a track number of the railcar and request time for the railcar to send the application information;
step 2, making a scheduling strategy according to the received application information of the rail car;
judging whether the rail vehicles on the two rails pass through a first merging point according to the application information, wherein the scheduling strategy is to respectively take the two rails as a first controlled rail and a second controlled rail according to the request time;
the first merging point controller takes the track where the railcar with the earliest request time among all the received railcars on the two tracks is located as the first controlled track, and takes the other track as the second controlled track;
when it is judged that the rail cars on the two rails pass through the first merging point, the judgment basis of the scheduling strategy further comprises waiting time and a first time threshold value, when the waiting time of the second controlled rail is greater than the first time threshold value, the first merging point controller stops scheduling the rail cars of the first controlled rail, and after the controlled rail car of the first controlled rail completely passes through the first merging point, the first merging point controller schedules the rail cars on the second controlled rail;
the waiting time is the accumulated time for maintaining the waiting scheduling after the track vehicle on one track sends the application information and does not receive the scheduling instruction of the first merging point controller;
the judgment basis of the scheduling strategy further comprises a first time threshold, when the waiting time of the first controlled track is greater than a second time threshold, the first merging point controller stops scheduling the railcars of the second controlled track, and when the controlled railcars of the second controlled track completely pass through the first merging point, the first merging point controller schedules the railcars on the first controlled track;
and 3, controlling the rail car to pass through the first merging point according to the scheduling strategy.
2. The intelligent dispatching method for the merge points of railcars according to claim 1, wherein in step 2, it is determined that only one railcar on one track is to pass through the first merge point according to the application information, the dispatching strategy takes the track of the railcar as a controlled track, and the first merge point controller controls the railcar to pass through the first merge point.
3. The intelligent railcar merge point scheduling method according to claim 1, wherein in step 3, it is determined whether the controlled railcar completely passes through the first merge point according to the position information of the controlled railcar.
4. The intelligent railcar merge point dispatching method according to claim 2, wherein when the forwardmost railcar on a track does not send a request message to the first merge point controller, the first merge point controller does not treat the track as a controlled track.
5. An intelligent track control system comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the intelligent railcar merge point scheduling method of any one of the preceding claims 1-4.
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| KR100948825B1 (en) * | 2003-06-20 | 2010-03-24 | 박태진 | A merge control system |
| KR101518506B1 (en) * | 2008-05-26 | 2015-05-07 | 주식회사 포스코 | Method and System for Merge control in an automated vehicle system |
| EP2572955A1 (en) * | 2011-09-23 | 2013-03-27 | Siemens SAS | Method and system for managing an interlocking |
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